Among other solution xrdp in my opinion is one of the best.
Link to this project is: http://www.xrdp.org/
First of all does not require user logged on system and we can connect via this solution via any Windows machine or Linux(,e.g.Remina)
Installation is pretty easy
apt-get install xrdp
Xrdp is using vnc4server so you have to approve installation of this packet.
Below some screenshoots during workign via xrdp
from Windows machine
from Debian machine